removed redundant calls

microsoft · Aug 25, 2022 · b5d4b80 · b5d4b80
1 parent 3e04c24
commit b5d4b80
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/src/k4a_ros_device.cpp b/src/k4a_ros_device.cpp
@@ -729,8 +729,6 @@ k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_imag
 
 k4a_result_t K4AROSDevice::fillPointCloud(const k4a::image& pointcloud_image, sensor_msgs::PointCloud2Ptr& point_cloud)
 {
-  point_cloud->height = pointcloud_image.get_height_pixels();
-  point_cloud->width = pointcloud_image.get_width_pixels();
   point_cloud->is_dense = false;
   point_cloud->is_bigendian = false;
 
@@ -745,7 +743,7 @@ k4a_result_t K4AROSDevice::fillPointCloud(const k4a::image& pointcloud_image, se
 
   pcd_modifier.resize(point_count);
 
-  // Restore actual dimensions as pcd_modifier.resize(n) sets the cloud size to n x 1
+  // Set actual dimensions as pcd_modifier.resize(n) sets the cloud size to n x 1
   point_cloud->height = pointcloud_image.get_height_pixels();
   point_cloud->width = pointcloud_image.get_width_pixels();
   point_cloud->row_step = pointcloud_image.get_width_pixels() * point_cloud->point_step;